/* ff_util.h

*/
void TurnTest(void);

void HeadingTest(void);

int	GoToHeading(unsigned char,unsigned char);

int ScanRoomForFlame(void);

void RWallFollow(int TargetDistance,int TerminatingCondition,unsigned long TerminatingValue);
void LWallFollow(int TargetDistance,int TerminatingCondition,unsigned long TerminatingValue);

void Forward(int Speed,int TerminatingCondition,unsigned long TerminatingValue);


void ToRoom1(void);
void ToRoom2(void);
void ToRoom3(void);
void ToRoom4(void);

void HomeFrom1(void);
void HomeFrom2(void);
void HomeFrom3(void);
void HomeFrom4(void);


void ExitRoom(void);
void FlameDemo(void);
int CheckTerminatingConditions(int TerminatingCondition,unsigned long TerminatingValue);
void PWM_Test(void);


